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121 lines
3.4 KiB
121 lines
3.4 KiB
//////////////////////////////////////////////////////////////////// |
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// AABB.h |
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// |
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// Copyright 2007 cDc@seacave |
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// Distributed under the Boost Software License, Version 1.0 |
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// (See http://www.boost.org/LICENSE_1_0.txt) |
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#ifndef __SEACAVE_AABB_H__ |
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#define __SEACAVE_AABB_H__ |
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// I N C L U D E S ///////////////////////////////////////////////// |
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// D E F I N E S /////////////////////////////////////////////////// |
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namespace SEACAVE { |
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// S T R U C T S /////////////////////////////////////////////////// |
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// Basic axis-aligned bounding-box class |
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template <typename TYPE, int DIMS> |
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class TAABB |
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{ |
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STATIC_ASSERT(DIMS > 0 && DIMS <= 3); |
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public: |
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typedef TYPE Type; |
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typedef Eigen::Matrix<TYPE,DIMS,1> POINT; |
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typedef Eigen::Matrix<TYPE,DIMS,DIMS,Eigen::RowMajor> MATRIX; |
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enum { numChildren = (2<<(DIMS-1)) }; |
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enum { numCorners = (DIMS==1 ? 2 : (DIMS==2 ? 4 : 8)) }; // 2^DIMS |
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enum { numScalar = (2*DIMS) }; |
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POINT ptMin, ptMax; // box extreme points |
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//--------------------------------------- |
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inline TAABB() {} |
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inline TAABB(bool); |
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inline TAABB(const POINT& _pt); |
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inline TAABB(const POINT& _ptMin, const POINT& _ptMax); |
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inline TAABB(const POINT& center, const TYPE& radius); |
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template <typename TPoint> |
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inline TAABB(const TPoint* pts, size_t n); |
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template <typename CTYPE> |
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inline TAABB(const TAABB<CTYPE, DIMS>&); |
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inline void Reset(); |
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inline void Set(const POINT& _pt); |
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inline void Set(const POINT& _ptMin, const POINT& _ptMax); |
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inline void Set(const POINT& center, const TYPE& radius); |
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template <typename TPoint> |
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inline void Set(const TPoint* pts, size_t n); |
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inline bool IsEmpty() const; |
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inline TAABB& Enlarge(TYPE); |
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inline TAABB& EnlargePercent(TYPE); |
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void InsertFull(const POINT&); |
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void Insert(const POINT&); |
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void Insert(const TAABB&); |
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void BoundBy(const TAABB&); |
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inline void Translate(const POINT&); |
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inline void Transform(const MATRIX&); |
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inline POINT GetCenter() const; |
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inline void GetCenter(POINT&) const; |
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inline POINT GetSize() const; |
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inline void GetSize(POINT&) const; |
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inline void GetCorner(BYTE i, POINT&) const; |
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inline POINT GetCorner(BYTE i) const; |
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inline void GetCorners(POINT pts[numCorners]) const; |
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bool Intersects(const TAABB&) const; |
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bool IntersectsComplete(const TAABB&, TYPE) const; |
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bool IntersectsComplete(const TAABB&) const; |
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bool Intersects(const POINT&) const; |
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bool IntersectsComplete(const POINT&, TYPE) const; |
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bool IntersectsComplete(const POINT&) const; |
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unsigned SplitBy(TYPE, int, TAABB [2]) const; |
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unsigned SplitBy(const POINT&, TAABB [numChildren], unsigned&) const; |
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inline TYPE& operator [] (BYTE i) { ASSERT(i<numScalar); return ptMin.data()[i]; } |
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inline TYPE operator [] (BYTE i) const { ASSERT(i<numScalar); return ptMin.data()[i]; } |
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friend std::ostream& operator << (std::ostream& st, const TAABB& obb) { |
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st << obb.ptMin; st << std::endl; |
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st << obb.ptMax; st << std::endl; |
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return st; |
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} |
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friend std::istream& operator >> (std::istream& st, TAABB& obb) { |
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st >> obb.ptMin; |
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st >> obb.ptMax; |
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return st; |
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} |
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#ifdef _USE_BOOST |
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// implement BOOST serialization |
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template<class Archive> |
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void serialize(Archive& ar, const unsigned int /*version*/) { |
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ar & ptMin; |
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ar & ptMax; |
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} |
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#endif |
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}; // class TAABB |
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/*----------------------------------------------------------------*/ |
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#include "AABB.inl" |
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/*----------------------------------------------------------------*/ |
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} // namespace SEACAVE |
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#endif // __SEACAVE_AABB_H__
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